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openni_device_oni.h
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011 Willow Garage, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* POSSIBILITY OF SUCH DAMAGE.
*
*/
#pragma once
#include <pcl/pcl_config.h>
#include <pcl/memory.h>
#ifdef HAVE_OPENNI
#include "openni_device.h"
#include "openni_driver.h"
#include <pcl/io/openni_camera/openni_image.h>
#include <condition_variable>
#include <mutex>
namespace openni_wrapper
{
/**
* @brief Concrete implementation of the interface OpenNIDevice for a virtual device playing back an ONI file.
* @author Suat Gedikli
* @date 19. june 2011
* @ingroup io
*/
class DeviceONI : public OpenNIDevice
{
friend class OpenNIDriver;
public:
using Ptr = pcl::shared_ptr<DeviceONI>;
using ConstPtr = pcl::shared_ptr<const DeviceONI>;
DeviceONI (xn::Context& context, const std::string& file_name, bool repeat = false, bool streaming = true);
~DeviceONI () noexcept override;
void startImageStream () override;
void stopImageStream () override;
void startDepthStream () override;
void stopDepthStream () override;
void startIRStream () override;
void stopIRStream () override;
bool isImageStreamRunning () const noexcept override;
bool isDepthStreamRunning () const noexcept override;
bool isIRStreamRunning () const noexcept override;
bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const noexcept override;
/** \brief Trigger a new frame in the ONI stream.
* \param[in] relative_offset the relative offset in case we want to seek in the file
*/
bool
trigger (int relative_offset = 0);
bool isStreaming () const noexcept;
/** \brief Check if there is any data left in the ONI file to process. */
inline bool
hasDataLeft ()
{
return (!player_.IsEOF ());
}
protected:
Image::Ptr getCurrentImage (pcl::shared_ptr<xn::ImageMetaData> image_meta_data) const noexcept override;
void PlayerThreadFunction ();
static void __stdcall NewONIDepthDataAvailable (xn::ProductionNode& node, void* cookie) noexcept;
static void __stdcall NewONIImageDataAvailable (xn::ProductionNode& node, void* cookie) noexcept;
static void __stdcall NewONIIRDataAvailable (xn::ProductionNode& node, void* cookie) noexcept;
xn::Player player_;
std::thread player_thread_;
mutable std::mutex player_mutex_;
std::condition_variable player_condition_;
bool streaming_;
bool depth_stream_running_{false};
bool image_stream_running_{false};
bool ir_stream_running_{false};
};
} //namespace openni_wrapper
#endif //HAVE_OPENNI
openni_wrapper::DeviceONI::~DeviceONI
~DeviceONI() noexcept override
openni_wrapper::DeviceONI::stopIRStream
void stopIRStream() override
stops the IR stream.
openni_wrapper::DeviceONI::getCurrentImage
Image::Ptr getCurrentImage(pcl::shared_ptr< xn::ImageMetaData > image_meta_data) const noexcept override
openni_wrapper::DeviceONI::startIRStream
void startIRStream() override
starts the IR stream.
openni_wrapper::DeviceONI::NewONIIRDataAvailable
static void __stdcall NewONIIRDataAvailable(xn::ProductionNode &node, void *cookie) noexcept
openni_wrapper::DeviceONI::stopDepthStream
void stopDepthStream() override
stops the depth stream.
openni_wrapper::DeviceONI::depth_stream_running_
bool depth_stream_running_
Definition openni_device_oni.h:114
openni_wrapper::DeviceONI::isIRStreamRunning
bool isIRStreamRunning() const noexcept override
openni_wrapper::DeviceONI::ConstPtr
pcl::shared_ptr< const DeviceONI > ConstPtr
Definition openni_device_oni.h:66
openni_wrapper::DeviceONI::startDepthStream
void startDepthStream() override
starts the depth stream.
openni_wrapper::DeviceONI::trigger
bool trigger(int relative_offset=0)
Trigger a new frame in the ONI stream.
openni_wrapper::DeviceONI::player_
xn::Player player_
Definition openni_device_oni.h:109
openni_wrapper::DeviceONI::player_mutex_
std::mutex player_mutex_
Definition openni_device_oni.h:111
openni_wrapper::DeviceONI::isImageResizeSupported
bool isImageResizeSupported(unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const noexcept override
openni_wrapper::DeviceONI::ir_stream_running_
bool ir_stream_running_
Definition openni_device_oni.h:116
openni_wrapper::DeviceONI::NewONIImageDataAvailable
static void __stdcall NewONIImageDataAvailable(xn::ProductionNode &node, void *cookie) noexcept
openni_wrapper::DeviceONI::Ptr
pcl::shared_ptr< DeviceONI > Ptr
Definition openni_device_oni.h:65
openni_wrapper::DeviceONI::hasDataLeft
bool hasDataLeft()
Check if there is any data left in the ONI file to process.
Definition openni_device_oni.h:96
openni_wrapper::DeviceONI::DeviceONI
DeviceONI(xn::Context &context, const std::string &file_name, bool repeat=false, bool streaming=true)
openni_wrapper::DeviceONI::image_stream_running_
bool image_stream_running_
Definition openni_device_oni.h:115
openni_wrapper::DeviceONI::streaming_
bool streaming_
Definition openni_device_oni.h:113
openni_wrapper::DeviceONI::startImageStream
void startImageStream() override
starts the image stream.
openni_wrapper::DeviceONI::isDepthStreamRunning
bool isDepthStreamRunning() const noexcept override
openni_wrapper::DeviceONI::player_thread_
std::thread player_thread_
Definition openni_device_oni.h:110
openni_wrapper::DeviceONI::isImageStreamRunning
bool isImageStreamRunning() const noexcept override
openni_wrapper::DeviceONI::player_condition_
std::condition_variable player_condition_
Definition openni_device_oni.h:112
openni_wrapper::DeviceONI::OpenNIDriver
friend class OpenNIDriver
Definition openni_device_oni.h:62
openni_wrapper::DeviceONI::PlayerThreadFunction
void PlayerThreadFunction()
openni_wrapper::DeviceONI::isStreaming
bool isStreaming() const noexcept
openni_wrapper::DeviceONI::NewONIDepthDataAvailable
static void __stdcall NewONIDepthDataAvailable(xn::ProductionNode &node, void *cookie) noexcept
openni_wrapper::DeviceONI::stopImageStream
void stopImageStream() override
stops the image stream.
openni_wrapper::Image::Ptr
pcl::shared_ptr< Image > Ptr
Definition openni_image.h:61
memory.h
Defines functions, macros and traits for allocating and using memory.
openni_wrapper
Definition openni_depth_image.h:52